CN107134147A - Method, apparatus and system based on video camera and sensor management bar parking space - Google Patents
Method, apparatus and system based on video camera and sensor management bar parking space Download PDFInfo
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- CN107134147A CN107134147A CN201710531355.7A CN201710531355A CN107134147A CN 107134147 A CN107134147 A CN 107134147A CN 201710531355 A CN201710531355 A CN 201710531355A CN 107134147 A CN107134147 A CN 107134147A
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- car
- blind area
- video camera
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
Abstract
The present invention relates to a kind of method based on video camera and sensor management bar parking space, apparatus and system, for the management of Roadside Parking bar parking space, its method includes：Determine whether that vehicle is stopped in blind area parking stall；If there is vehicle parking blind area parking stall, vehicle monitoring image and track of vehicle information are obtained, the car entry/exit is judged according to the change in displacement of license board information and car plate in monitoring image；The car entry/exit information is sent to cloud platform again, the advantage of the invention is that：The accurate monitoring image of monitoring blind area covering parking area can preferably be obtained by blind area video camera and range sensor and car plate is accurately recognized, complete Parking is formed, the Parking dispute evidence obtaining to the later stage brings very big facility；It is based on video camera and the system of sensor management bar parking space easy for installation, it is to avoid the dependence to miscellaneous equipment and the destruction to infrastructure etc., it particular avoid the destruction of earth magnetism with video stake road pavement excessively.
Description
Technical field
The present invention relates to a kind of bar parking space management system, for the management of blind area parking stall under bar in Roadside Parking, especially
It is related to a kind of method based on video camera and sensor management bar parking space, apparatus and system.
Background technology
In City ITS, the management in parking lot occupies considerable ratio.With urban motor vehicle
Occupation rate is continuously increased, and parking lot has been not limited only to original pattern, and Roadside Parking field assume responsibility for more and more important
Role, the requirement of the intelligent management of Roadside Parking is also more and more accurate, quick therewith.It is main that current Roadside Parking is managed
It is based on the pure earth magnetism intelligent management system either intelligent management system two ways based on pure video monitoring that technology, which is realized,.
The advantage of intelligent management system based on pure earth magnetism is that all parking stalls can be managed, and has the disadvantage earth magnetism
The high cost brought is installed and safeguards, the particularity of earth magnetism causes it to need to destroy road surface, later maintenance during installation
When also need to block the section road；And earth magnetism is in itself to information of vehicles None- identified, therefore the implementation of the program
Also greatly will be dependent on driver to the voluntary observance of rule and the real-time monitoring of live human administration staff, this nothing
Very big inconvenience is brought suspected of driver.
Based on the intelligent management system of pure video monitoring, such as one kind of the patent No. 201720450962.6 is based on polyphaser
The Roadside Parking managing device of image Combined Treatment, its video surveillance camera includes panoramic camera and some parking stall cameras, entirely
Portion is deployed in trackside monitoring bar, and the maximum angle of an independent video surveillance camera is usually 85 degree, that is to say, that camera
Above and below front, or so, it can see substantially in the range of 85 degree, pass through the combination of panoramic camera and some parking stall cameras, energy
It is enough to expand visible angle, so as to monitor the driving trace of target vehicle in the detection zone of front, and then get car plate letter
Breath and positional information, but remain blind area immediately below video surveillance camera, even with flake panoramic camera or fish
Eye panorama clipping the ball, still has when bar parking space vehicle goes out admission that car plate is easily blocked, the Car license recognition degree of accuracy is not high, car
The problem of motion capture of entering to appear on the scene is inaccurate and the degree of accuracy of turnover script holder's record is difficult to control, leads to not to obtain monitoring blind
Area covers the accurate monitoring image of parking area, and then judges inaccurate to Parking information；The parking in later stage can so be given
Event dispute evidence obtaining brings many inconvenience.
In view of above-mentioned defect, the design people is actively subject to research and innovation, a kind of based on video camera and biography to found
The method of sensor management bar parking space, apparatus and system, make it with more the value in industry.
The content of the invention
In order to solve the above technical problems, can accurately obtain monitoring blind area coverage hole it is an object of the invention to provide one kind
The method based on video camera and sensor management bar parking space of the monitoring image information of parking stall, apparatus and system.
The technical scheme is that：A kind of method based on video camera Yu sensor management bar parking space, its feature exists
In, including：If there is vehicle parking blind area parking stall, admission vehicle monitoring image and track of vehicle information are obtained, according to vehicle monitoring
Image obtains admission vehicle license plate information, corresponding berth number, according to track of vehicle acquisition of information car plate in monitoring image
Change in displacement；
The car admission is judged according to the change in displacement of admission vehicle license plate information and car plate in monitoring image；
If the car is rolled away from from blind area parking stall, appearance vehicle monitoring image and appearance vehicle trace information are obtained, according to vehicle monitoring
Image obtains the license board information of appearance vehicle and corresponding berth number, according to track of vehicle acquisition of information car plate in monitoring image
In change in displacement；
Judge that the car appears on the scene according to the change in displacement of appearance vehicle license board information and car plate in monitoring image；
The entry/exit information and license board information of the car are sent to cloud platform, for cloud platform parking management, the car plate letter
Breath includes characters on license plate information and license plate image information.
Further, methods described also includes the panorama image information for obtaining blind area parking stall, is entered according to panorama image information
One step obtains the license board information of blind area parking stall parked vehicles；
Obtaining panorama image information includes obtaining blind area parking stall berth information, stops entering the information that appears on the scene, car into blind area parking stall vehicle
Board information and the information of vehicles of blind area parking stall neighboring area.
Further, entry/exit vehicle key point pictorial information is obtained according to vehicle monitoring image, according to entry/exit car
Key point pictorial information obtains license board information.
Further, obtain admission track of vehicle information include obtaining successively vehicle side enter a trace information, move backward into
Position trace information and forward direction enter a trace information.
Further, judge that the method for vehicle admission also includes：When detection has vehicle to be stopped in blind area parking stall, to vehicle side
The monitoring image and key point pictorial information that side enters in a track are once recalled, according to Car license recognition in a traceback information
And change in displacement of the car plate in key point pictorial information determines the car admission as a result.
Further, if not can determine that license board information according to a traceback information, vehicle backing is entered in a track and supervised
Control image and carry out secondary backtracking with key point pictorial information；
Being determined according to the change in displacement of license plate recognition result and car plate in secondary traceback information in key point pictorial information should
Car admission.
Further, if being failed to recognize that license board information and car plate exist according to a traceback information and secondary traceback information
The image information of change in displacement parked vehicles in key point pictorial information, then vehicle forward direction is entered in a track monitoring image with
Key point pictorial information carries out three backtrackings；
Being determined according to the change in displacement of license plate recognition result and car plate in three traceback informations in key point pictorial information should
Car admission.
Further, if failing identification license board information and car plate in key point picture according to above-mentioned three traceback informations
The image information of change in displacement parked vehicles in information, then carry out four backtrackings to panorama image information, according to four backtrackings
The change in displacement of license plate recognition result and car plate in key point pictorial information determines the car admission in information.
A kind of device based on video camera Yu sensor management bar parking space, including device control module, range sensor
Module, main control module and network communication module,
The device control module is used for the blind area of control video camera and obtains vehicle monitoring image and track of vehicle information；
The distance sensor module determines whether the blind area parking stall has vehicle parking for command range sensor；
The main control module is used to judging whether vehicle enters according to change in displacement in monitoring image of license board information and car plate/
Appear on the scene；
The network communication module, for the license board information of entry/exit vehicle to be uploaded into cloud platform.
Further, the main control module is additionally operable to：
When detection has vehicle to be stopped in blind area parking stall, vehicle side Ru Wei tracks, monitoring image and key point pictorial information are entered
Row is once recalled, according to the change in displacement of license plate recognition result and car plate in key point pictorial information in a traceback information
Determine the vehicle admission；
Or not can determine that according to the change in displacement of license board information and car plate in key point pictorial information in a traceback information
The car admission, a track, monitoring image and key point pictorial information are entered to vehicle backing and carries out secondary backtracking, according to secondary backtracking
The change in displacement of license plate recognition result and car plate in key point pictorial information determines the vehicle admission in information；
Or the car admission is failed according to a traceback information and secondary traceback information, then a track and prison are entered to vehicle forward direction
Control image and carry out three backtrackings with key point pictorial information, closed according to license plate recognition result in three traceback informations and car plate
Change in displacement in key point pictorial information can determine that the car admission；
Or the car admission not can determine that according to above-mentioned three traceback informations, then four backtrackings, root are carried out to panorama image information
The car admission is determined according to the change in displacement of license plate recognition result and car plate in key point pictorial information in four traceback informations.
A kind of system based on video camera Yu sensor management bar parking space, including blind area video camera, range sensor, base
In video camera and device, storage device and the cloud platform of sensor management bar parking space, the blind area video camera and the distance
Sensor deployment in trackside monitoring bar,
The range sensor is used to obtain blind area parking stall use information, and the blind area video camera is used to obtain entry/exit
The change in displacement of the license board information of vehicle, corresponding berth number and car plate in monitoring image；The video camera that is based on is with passing
The device of sensor management bar parking space communicates with blind area video camera, range sensor and cloud platform；The storage device is used to deposit
Store up vehicle monitoring image and track of vehicle information that blind area video camera is obtained.
Further, confirm the blind area parking stall whether have vehicle parking be by confirm range sensor and vehicle body away from
Judge from whether numerical value is stablized, if range sensor measurement result is the predetermined threshold of range sensor and vehicle body apart from it
It is interior, and numerical stability, it is determined with vehicle and stops into blind area parking stall.
If range sensor measurement result is within the predetermined threshold distance on range sensor and ground, and numerical stability,
Judge that vehicle has run out blind area parking stall.
Further, the system also includes blind area panoramic camera, and the blind area panoramic camera is used to obtain blind area
The panorama image information of parking stall, obtaining panorama image information includes obtaining blind area parking stall berth information, stops into blind area parking stall car plate
Information, the information of vehicles for stopping enter to appear on the scene information and blind area parking stall neighboring area into blind area parking stall vehicle.
In the present invention, the key point picture refers to the wink captured during vehicle admission or appearance and admission and appearance
Between picture.
In the present invention, monitoring image is not limited to monitor video, in addition to monitoring picture.
In the present invention, the storage device can be the memory module being built on master control borad, or external deposits
Store up equipment, such as DVR.
By such scheme, the present invention at least has advantages below：（1）Pass through blind area video camera and range sensor
The accurate monitoring image that monitoring blind area covering parking area can preferably be obtained is set and car plate accurately recognized, shape
Very big facility is brought into complete Parking, and to the Parking dispute evidence obtaining in later stage；（2）Based on video camera and sensing
The system of device management bar parking space is easy for installation, it is to avoid the dependence to miscellaneous equipment and the destruction to infrastructure etc., especially
It is that of avoiding the destruction of earth magnetism road pavement.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, described in detail below with presently preferred embodiments of the present invention as after.
Brief description of the drawings
Fig. 1 is the method flow diagram of the invention based on video camera Yu sensor management bar parking space；
Fig. 2 is that the present invention arranges schematic diagram based on video camera with sensor management bar parking space System planes；
Fig. 3 is that the present invention arranges schematic diagram based on video camera with sensor management bar parking space System planes；
Fig. 4 is the present invention based on video camera and sensor management bar parking space system schematic；
Fig. 5 is the present invention based on video camera and sensor management bar parking space schematic device；
Fig. 6 is the present invention based on video camera and sensor management bar parking space system real visual angle schematic diagram；
Fig. 7 is the present invention based on video camera and sensor management bar parking space system and the road based on polyphaser image Combined Treatment
Real visual angle schematic diagram is used in combination in side parking management device.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
As shown in Fig. 1 the method based on video camera Yu sensor management bar parking space, is specifically included：
101：Determine whether vehicle blind area parking stall stop, further obtained according to the blind area parking stall berth information of judgement into
Enter the license board information of blind area parking stall vehicle；
102：If there is vehicle parking blind area parking stall, admission vehicle monitoring image and track of vehicle information are obtained, according to vehicle monitoring
Image obtains admission vehicle key point pictorial information, carries out Car license recognition according to admission vehicle key point pictorial information, further
Accurate license board information is obtained, according to change in displacement of the track of vehicle acquisition of information car plate in monitoring image；
103：The car admission is judged according to the change in displacement of admission license board information and the car plate in monitoring image and is recorded into
Field time point, Car license recognition is carried out particular by monitoring image in cog region and key point pictorial information, and according to the car
Admission track obtains change in displacement of the car plate in monitoring image, in the event of changing, then further judges this car as admission
Vehicle；Wherein driving trace enters a trace information including moving backward into a trace information, side and forward direction enters a trace information；
104：If the car is rolled away from from blind area parking stall, appearance vehicle monitoring image and appearance vehicle trace information are obtained, according to vehicle
Monitoring image obtains and rolls the license board information of blind area parking stall vehicle and corresponding berth number away from, according to track of vehicle acquisition of information car
Change in displacement of the board in monitoring image；
105：Judge that the car appears on the scene according to the change in displacement of appearance license board information and car plate in monitoring image, and record appearance
Time point；The pictorial information that appearance vehicle key point is got in the specific monitoring image appeared on the scene from vehicle carries out car plate knowledge
Not, and according to the vehicle appearance trace information change in displacement of the car plate in monitoring image is obtained, when the display car plate is in monitoring
Change in displacement in image, then confirm that the car appears on the scene；
106：The license board information of the car and entry/exit information are sent to cloud platform, for cloud platform parking management, the car
Board information includes characters on license plate information and license plate image information.
Specifically upon execution, as shown in Fig. 2 when detection has vehicle to be stopped in blind area parking stall 1, then entering a rail to vehicle side
Mark, that is, monitoring image is once recalled with key point pictorial information in cog region C in figure to vehicle, if specified
In time（The specific time is to set according to actual needs, such as to set a car can normally enter position within three minutes）Know
Do not go out the vehicle license plate information entered in cog region C and determine that displacement of the car plate in key point pictorial information becomes
Change, then can determine that the car admission and record the time point of admission；The admission information and license board information of the car are sent to cloud and put down
Platform；
If according to failing to recognize change in displacement in key point pictorial information of license board information and car plate in a traceback information
The image information of parked vehicles, then enter a track to vehicle backing, that is, to vehicle in figure in cog region B monitoring image with
Key point pictorial information carries out secondary backtracking, if within the specified time（Specific time is to set according to actual needs, such as
One car of setting can normally enter position within three minutes）Identify into the vehicle license plate information in cog region B and determine institute
State displacement of the car plate in key point pictorial information to change, then can determine that the car admission and record the time point of admission；Will
The admission information and license board information of the car are sent to cloud platform；
If failing identification license board information and car plate according to a traceback information and secondary traceback information in key point picture to believe
The image information of change in displacement parked vehicles in breath, then enter a track, monitoring image and key point picture to vehicle forward direction and believe
Breath carries out three backtrackings, that is, monitoring image is returned for three times with the progress of key point pictorial information in cog region A in figure to vehicle
Trace back, if within the specified time（The specific time is to set according to actual needs, such as set a car can within three minutes
Normally to enter position）Identify into the vehicle license plate in cog region A and determine position of the car plate in key point pictorial information
Shifting changes, then can determine that the car admission and record the time point of admission；The admission information and license board information of the car are sent out
Deliver to cloud platform.
If failing identification license board information and car plate in key point pictorial information according to above-mentioned three traceback informations
The image information of change in displacement parked vehicles, then carry out four backtrackings to panorama image information；I.e. to blind area parking stall use information
And sail the vehicle image information of entry/exit blind area parking stall and the vehicle image information of blind area neighboring area is recalled, i.e., pair
Cog region A, cog region B, cog region C, cog region D and the information of vehicles of neighboring area are recalled, further come confirm into
Enter the vehicle image information of blind area parking stall, and the image information of parked vehicles is sent to cloud platform by network transmission module.
When detection has vehicle to be rolled away from blind area parking stall, from the cog region B in the monitoring image of vehicle appearance, cog region C, know
Any cog region obtains the pictorial information progress Car license recognition of appearance vehicle key point in other area A, and according to the vehicle appearance rail
Change in displacement of the mark acquisition of information car plate in monitoring image, when display car plate change in displacement in monitoring image, then confirms
The car is appeared on the scene, and records time for competiton point, and the appearance information and license board information of the car are sent to cloud platform.
In normal conditions, the general admission of vehicle and appear on the scene can by cog region A, cog region B or cog region C,
Monitoring image in cog region D can leak the supplement for grabbing information of vehicles as other regions.
Therefore, no matter vehicle side, which enters position, forward direction, enters position or moves backward can clearly obtain vehicles while passing into position
Information and license plate number information.
Likewise, such as Fig. 3 when detection has vehicle to be stopped in blind area parking stall 2, then to vehicle side Ru Wei tracks, that is, it is right
Vehicle in figure with key point pictorial information once recalled in cog region C1 by monitoring image, if within the specified time（Tool
The body time is to set according to actual needs, such as position can normally be entered within three minutes by setting car）Identify entrance
Vehicle license plate information in cog region C1 simultaneously determines that displacement of the car plate in key point pictorial information changes, then can sentence
The fixed car admission and the time point for recording admission；The admission information and license board information of the car are sent to cloud platform.
If according to failing to recognize the displacement in key point pictorial information of license board information and car plate in a traceback information
Change the image information of parked vehicles, then enter a track to vehicle backing, that is, vehicle is monitored in figure in cog region B1
Image carries out secondary backtracking with key point pictorial information, if within the specified time（Specific time is to set according to actual needs
Fixed, such as position can normally be entered within three minutes by setting a car）Identify into the vehicle license plate information in cog region B1
And determine that displacement of the car plate in key point pictorial information changes, then can determine that the car admission and record admission when
Between point；The admission information and license board information of the car are sent to cloud platform.
If failing identification license board information and car plate in crucial point diagram according to a traceback information and secondary traceback information
The image information of change in displacement parked vehicles in piece information, then enter a track, monitoring image and crucial point diagram to vehicle forward direction
Piece information carries out three backtrackings, that is, monitoring image carries out three with key point pictorial information in cog region A1 in figure to vehicle
Secondary backtracking, if within the specified time（The specific time is to set according to actual needs, such as set a car three minutes it
It is interior normally to enter position）Identify into the vehicle license plate in cog region A1 and determine the car plate in key point pictorial information
Displacement change, then can determine that the car admission and record the time point of admission；The admission information and car plate of the car are believed
Breath is sent to cloud platform.
If failing identification license board information and car plate in key point pictorial information according to above-mentioned three traceback informations
The image information of change in displacement parked vehicles, then carry out four backtrackings to panorama image information；I.e. to blind area parking stall use information
And sail the vehicle image information of entry/exit blind area parking stall and the vehicle image information of blind area neighboring area is recalled, i.e., pair
Cog region A1, cog region B1, cog region C1, cog region D1 and the information of vehicles of neighboring area are recalled, and are further come really
Recognize the vehicle image information into blind area parking stall, and the image information of parked vehicles is sent to cloud by network transmission module put down
Platform.
Likewise, when detection has vehicle to be rolled away from blind area parking stall, from the cog region B1 in the monitoring image of vehicle appearance, knowing
Any cog region obtains the pictorial information progress Car license recognition of appearance vehicle key point in other area C1, cog region A1, and according to this
Vehicle appearance trace information obtains change in displacement of the car plate in monitoring image, when the displacement in monitoring image of the display car plate becomes
Change, then confirm that the car appears on the scene and records time for competiton point, the appearance information and license board information of the car are sent to cloud platform.
In normal conditions, the general admission of vehicle and appearance can pass through cog region A1, cog region B1 or cog region
Monitoring image in C1, cog region D1 can leak the supplement for grabbing information as other regions.
As shown in Fig. 5 a kind of device based on video camera Yu sensor management bar parking space, it is used to performing above-mentioned
Method, is specifically included：Device control module 204, distance sensor module 201, main control module 203 and network communication module 202,
The distance sensor module 201 determines whether the blind area parking stall has vehicle parking for command range sensor；It is described to set
Standby control module is used for the blind area of control video camera and obtains vehicle monitoring image and track of vehicle information；The main control module is used for root
According to change in displacement in monitoring image of license board information and car plate judge vehicle whether entry/exit；The network communication module,
For the license board information of entry/exit vehicle to be uploaded into cloud platform.
The network communication module 203, is additionally operable to upload parking information and enters time for competiton, the image of cloud platform requirement
Information, status information of equipment；Receive configuration information, image call information and the upload feedback information of cloud platform.
It is preferred that, the main control module is additionally operable to judge vehicle entry/exit under different situations, and it mainly has following four to obtain
Form is taken, detection has vehicle to be stopped in blind area parking stall, vehicle side Ru Wei tracks, monitoring image and key point pictorial information are entered
Row is once recalled, according to the change in displacement of license plate recognition result and car plate in key point pictorial information in a traceback information
The vehicle admission is determined, and records the time point of admission；The admission information and license board information of the car are sent to cloud platform；
Or not can determine that according to the change in displacement of license board information and car plate in key point pictorial information in a traceback information
The car admission, a track, monitoring image and key point pictorial information are entered to vehicle backing and carries out secondary backtracking, according to secondary backtracking
The change in displacement of license plate recognition result and car plate in key point pictorial information determines the vehicle admission in information, and is recorded into
The time point of field；The admission information and license board information of the car are sent to cloud platform；
Or the car admission is failed according to a traceback information and secondary traceback information, then a track and prison are entered to vehicle forward direction
Control image and carry out three backtrackings with key point pictorial information, closed according to license plate recognition result in three traceback informations and car plate
Change in displacement in key point pictorial information can determine that the car admission, and record the time point of admission；By the admission information of the car with
And license board information is sent to cloud platform；
Or if the car admission not can determine that according to above-mentioned three traceback informations, to panorama image information carry out four times backtracking,
Determine that the car enters according to the change in displacement of license plate recognition result and car plate in key point pictorial information in four traceback informations
, and record the time point of admission；The admission information and license board information of the car are sent to cloud platform.
As shown in Fig. 4 the system based on video camera Yu sensor management bar parking space, it is used to perform the above method,
Specifically include blind area video camera 4, range sensor 5, based on video camera and sensor management bar parking space device, storage device 6
With cloud platform 3, blind area video camera is set to two groups, and respectively the first blind area video camera 401 and the second blind area video camera 402 are described
Range sensor 5 be respectively the first range sensor 501 and second distance sensor 502, the blind area video camera 4 and it is described away from
It is deployed in from sensor 5 in the T-shaped monitoring bar of trackside, wherein range sensor is used to confirm whether the blind area parking stall has vehicle to stop
Lean on；Blind area video camera is used for the license board information, corresponding berth number and the car plate that obtain entry/exit vehicle in monitoring image
Change in displacement；Imaged based on video camera and sensor management bar parking space device and the first blind area video camera 401 and the second blind area
Machine 402, the first blind area video camera 401, the second blind area video camera 402 and cloud platform 3 communicate；The storage device 6 is used to store
The monitoring image and track of vehicle information of entry/exit vehicle are easy to main control module to recall historical data；Cause network service simultaneously
Module can not be able to preserve data during normal work, and network service uploads data again after recovering.
Wherein：Range sensor is used to determine whether the blind area parking stall has in vehicle parking, specific implementation process, blind area
Parking stall use information is judged by confirming whether the distance values of range sensor and vehicle body are stablized, if range sensor is surveyed
Measure result be sensor to ground predetermined threshold within, and numerical stability, then when illustrating that no vehicle drives into blind area parking stall,
When range sensor measurement result be sensor to vehicle body predetermined threshold apart within and numerical value gradually convert, show vehicle
Roll blind area parking stall away from, when range sensor measurement result be sensor to vehicle body predetermined threshold apart within and numerical stability, table
Bright vehicle stops into blind area parking stall, when its predetermined threshold distance revert to again sensor to ground predetermined threshold apart within, and
Numerical stability, judges that vehicle has run out blind area parking stall.
If range sensor measurement result is unstable, then it is assumed that vehicle is driving into/rolling away from/pass slowly corresponding berth or
There is the interference of other objects, judge the parking stall at present without stoppage of vehicle.
When it is determined that blind area parking stall has vehicle to stop into blind area video camera drives into blind area parking stall car from tailstock angle shot, acquisition
Board information, when vehicle pours into parking stall from driving trace B or driving trace C, can clearly obtain vehicle enters the letter that appears on the scene
Breath and license plate number information.
To the further optimization of the present invention, the system also includes blind area panoramic camera 4, and the blind area panoramic camera is used
In the panorama image information for obtaining blind area parking stall, for entering row information mending-leakage to blind area parking stall parked vehicles.Blind area panoramic shooting
The optical axis included angle of the optical axis of machine and blind area video camera is fixed.
As shown in fig. 6, blind area panoramic camera shoot monitoring bar underface blind area, can monitor blind area parking stall 1 with it is blind
Area parking stall 2, but due to the limitation of shooting angle, there is certain probability can not obtain the car plate detection for having completed parked vehicles, therefore
Panoramic camera can combine range sensor and two groups of blind area video cameras accurately judge to rest in the car of blind area parking stall vehicle
Board information.
As transformable embodiment, the range sensor includes but is not limited to ultrasonic sensor, infrared sensing
Device, laser sensor etc..
In the present invention, the license board information includes characters on license plate information and license plate image information.
The present invention can be separately provided based on video camera and the system of sensor management bar parking space, and it is used for video camera
The blind area of picture control parking stall is managed.As shown in fig. 7, it can also stop with the trackside based on polyphaser image Combined Treatment
Car managing device（Application No. 201720450962.6）Support the use together, the parking stall all to parking lot carries out unified pipe
Reason.
Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and
Modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (13)
1. a kind of method based on video camera Yu sensor management bar parking space, it is characterised in that including：
Determine whether that vehicle is stopped in blind area parking stall；
If there is vehicle parking blind area parking stall, admission vehicle monitoring image and track of vehicle information are obtained, according to vehicle monitoring image
Admission vehicle license plate information and corresponding berth number are obtained, according to position of the track of vehicle acquisition of information car plate in monitoring image
Move change；
The car admission is judged according to the change in displacement of admission vehicle license plate information and car plate in monitoring image；
If the car is rolled away from from blind area parking stall, appearance vehicle monitoring image and appearance vehicle trace information are obtained, according to vehicle monitoring
Image obtains the license board information of appearance vehicle and corresponding berth number, according to track of vehicle acquisition of information car plate in monitoring image
In change in displacement；
Judge that the car appears on the scene according to the change in displacement of appearance vehicle license board information and car plate in monitoring image；
The entry/exit information and license board information of the car are sent to cloud platform, for cloud platform parking management, the car plate letter
Breath includes characters on license plate information and license plate image information.
2. the method according to claim 1 based on video camera Yu sensor management bar parking space, it is characterised in that：It is described
Method also includes the panorama image information for obtaining blind area parking stall, and blind area parking stall is further obtained according to panorama image information and stops car
License board information；
Obtaining panorama image information includes obtaining blind area parking stall berth information, stops entering the information that appears on the scene, car into blind area parking stall vehicle
Board information and the information of vehicles of blind area parking stall neighboring area.
3. the method according to claim 1 based on video camera Yu sensor management bar parking space, it is characterised in that：According to
Vehicle monitoring image obtains entry/exit vehicle key point pictorial information, and car is obtained according to entry/exit vehicle key point pictorial information
Board information.
4. the method according to claim 1 based on video camera Yu sensor management bar parking space, it is characterised in that：Obtain
Including obtaining successively, vehicle side enters a trace information to admission track of vehicle information, move backward enters a rail into a trace information and forward direction
Mark information.
5. the method according to claim 4 based on video camera Yu sensor management bar parking space, it is characterised in that：Judge
The method of vehicle admission also includes：When detection has vehicle to be stopped in blind area parking stall, to the monitoring figure in the Ru Wei tracks of vehicle side
Picture and key point pictorial information are once recalled, according to license plate recognition result and car plate in a traceback information in key point
Change in displacement in pictorial information determines the car admission.
6. the method according to claim 5 based on video camera Yu sensor management bar parking space, it is characterised in that：
If not can determine that license board information according to a traceback information, monitoring image and key point in a track are entered to vehicle backing
Pictorial information carries out secondary backtracking；
Being determined according to the change in displacement of license plate recognition result and car plate in secondary traceback information in key point pictorial information should
Car admission.
7. the method according to claim 6 based on video camera Yu sensor management bar parking space, it is characterised in that：
If failing identification license board information and car plate according to a traceback information and secondary traceback information in key point picture to believe
The image information of change in displacement parked vehicles in breath, then enter monitoring image in a track to vehicle forward direction and believe with key point picture
Breath carries out three backtrackings；
Being determined according to the change in displacement of license plate recognition result and car plate in three traceback informations in key point pictorial information should
Car admission.
8. the method according to claim 7 based on video camera Yu sensor management bar parking space, it is characterised in that：If root
Fail to recognize that the change in displacement of license board information and car plate in key point pictorial information is stopped according to above-mentioned three traceback informations
The image information of vehicle, then to panorama image information carry out four times backtracking, according to license plate recognition result in four traceback informations with
And change in displacement of the car plate in key point pictorial information determines the car admission.
9. a kind of device based on video camera Yu sensor management bar parking space, it is characterised in that：Including device control module, away from
From sensor assembly, main control module and network communication module,
The device control module is used for the blind area of control video camera and obtains vehicle monitoring image and track of vehicle information；
The distance sensor module determines whether the blind area parking stall has vehicle parking for command range sensor；
The main control module is used to judging whether vehicle enters according to change in displacement in monitoring image of license board information and car plate/
Appear on the scene；
The network communication module, for the license board information of entry/exit vehicle to be uploaded into cloud platform.
10. the device according to claim 9 based on video camera Yu sensor management bar parking space, it is characterised in that：Institute
Main control module is stated to be additionally operable to：
When detection has vehicle to be stopped in blind area parking stall, vehicle side Ru Wei tracks, monitoring image and key point pictorial information are entered
Row is once recalled, according to the change in displacement of license plate recognition result and car plate in key point pictorial information in a traceback information
Determine the vehicle admission；
Or not can determine that according to the change in displacement of license board information and car plate in key point pictorial information in a traceback information
The car admission, a track, monitoring image and key point pictorial information are entered to vehicle backing and carries out secondary backtracking, according to secondary backtracking
The change in displacement of license plate recognition result and car plate in key point pictorial information determines the vehicle admission in information；
Or the car admission is failed according to a traceback information and secondary traceback information, then enter a track, monitoring to vehicle forward direction
Image carries out three backtrackings with key point pictorial information, according to license plate recognition result and car plate in three traceback informations in key
Change in displacement in point pictorial information can determine that the car admission；
Or the car admission not can determine that according to above-mentioned three traceback informations, then four backtrackings, root are carried out to panorama image information
The car admission is determined according to the change in displacement of license plate recognition result and car plate in key point pictorial information in four traceback informations.
11. a kind of system based on video camera Yu sensor management bar parking space, it is characterised in that：Including blind area video camera, away from
Device, storage device and cloud platform from sensor, as described in claim 9 or claim 10, the blind area video camera and
The range sensor is deployed in trackside monitoring bar,
The range sensor is used to confirm whether the blind area parking stall has vehicle parking；The blind area video camera is used to obtain
Change in displacement of the license board information, corresponding berth number and car plate of entry/exit vehicle in monitoring image；The claim
9 or claim 10 described in device communicated with blind area video camera, range sensor and cloud platform；The storage device is used to deposit
Store up vehicle monitoring image and track of vehicle information that blind area video camera is obtained.
12. the system based on video camera Yu sensor management bar parking space according to claim 11, it is characterised in that：Confirm
Whether the blind area parking stall have vehicle parking is judged by confirming whether the distance values of range sensor and vehicle body are stablized,
If range sensor measurement result is within the predetermined threshold distance of range sensor and vehicle body, and numerical stability, car is determined with
Stop into blind area parking stall；
If range sensor measurement result is within the predetermined threshold distance on range sensor and ground, and numerical stability, judge
Vehicle has run out blind area parking stall.
13. the system based on video camera Yu sensor management bar parking space according to claim 11, it is characterised in that：It is described
System also includes blind area panoramic camera, and the blind area panoramic camera is used for the panorama image information for obtaining blind area parking stall, obtained
Panorama image information is taken to include obtaining blind area parking stall berth information, stop into blind area parking stall license board information, stop into blind area parking stall vehicle
Enter to appear on the scene information and blind area parking stall neighboring area information of vehicles.
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| CN201710531355.7A CN107134147B (en) | 2017-07-03 | 2017-07-03 | Method, device and system for managing parking spaces under pole based on camera and sensor |
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| CN201710531355.7A CN107134147B (en) | 2017-07-03 | 2017-07-03 | Method, device and system for managing parking spaces under pole based on camera and sensor |
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